Possible to use costmap_2d as a standalone node away from the Nav stack?
Hello, so I'm currently dealing with the idea of using a 360 2D LiDAR for basic obstacle detection. I was looking at using a local costmap for obtaining obstacles around the vehicle. I have searched a lot but haven't seen much info out there on whether or not its feasible using the costmap on a robot that has no nav stack connections.
Thanks.
Asked by saltytaco on 2019-11-29 00:07:24 UTC
Comments
Yes, it is. Typing "costmap_2d node" into google produces quite some hits, among the first four are #q237048 which shows you code how to launch it, as well as the costmap_2d wiki page which says
Asked by mgruhler on 2019-11-29 05:44:42 UTC
You can also use other custom obstacle detection packages such as this one
Asked by pavel92 on 2019-11-29 08:17:11 UTC